相关论文: Minimum Jerk Trajectory Generation for Straight an…

Human mobility modeling from GPS-trajectories and synthetic trajectory generation are crucial for various applications, such as urban planning, disaster management and epidemiology. Both of these tasks often require filling gaps in a…

An optimal control problem for longitudinal motions of a thin elastic rod is considered. We suppose that a normal force, which changes piecewise constantly along the rod's length, is applied to the cross-section so that the positions of…

Generating realistic human motion from given action descriptions has experienced significant advancements because of the emerging requirement of digital humans. While recent works have achieved impressive results in generating motion…

Computing the shortest path between two given locations in a road network is an important problem that finds applications in various map services and commercial navigation products. The state-of-the-art solutions for the problem can be…

Small random perturbations may have a dramatic impact on the long time evolution of dynamical systems, and large deviation theory is often the right theoretical framework to understand these effects. At the core of the theory lies the…

We bring a control perspective to the problem of identifying paths of measures for sampling via dynamic measure transport (DMT). We highlight the fact that commonly used paths may be poor choices for DMT and connect existing methods for…

We have performed self-consistent 2.5-dimensional nonsteady MHD numerical simulations of jet formation as long as possible, including the dynamics of accretion disks. Although the previous nonsteady MHD simulations for astrophysical jets…

Solving for the minimum time bounded acceleration trajectory with prescribed position and velocity at endpoints is a highly nonlinear problem. The methods and bounds developed in this paper distinguish when there is a continuous…

We give a derivation of the method of conjugate gradients based on the requirement that each iterate minimizes a strictly convex quadratic on the space spanned by the previously observed gradients. Rather than verifying that the search…

In this paper we propose a primal-dual dynamical approach to the minimization of a structured convex function consisting of a smooth term, a nonsmooth term, and the composition of another nonsmooth term with a linear continuous operator. In…

The generation of realistic spatio-temporal trajectories of human mobility is of fundamental importance in a wide range of applications, such as the developing of protocols for mobile ad-hoc networks or what-if analysis in urban ecosystems.…

In this paper, we study weakly dynamic undirected graphs, that can be used to represent some logistic networks. The goal is to deliver all the delivery points in the network. The network exists in a mostly stable environment, except for a…

During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between…

In this paper, a branching random walk $(V(x))$ in the boundary case is studied, where the associated one dimensional random walk is in the domain of attraction of an $\alpha-$stable law with $1<\alpha<2$. Let $M_n$ be the minimal position…

Identifying motor synergies -- coordinated hand joint patterns activated at task-dependent time shifts -- from kinematic data is central to motor control and robotics. Existing two-stage methods first extract candidate waveforms (via SVD)…

Digital human motion synthesis is a vibrant research field with applications in movies, AR/VR, and video games. Whereas methods were proposed to generate natural and realistic human motions, most only focus on modeling humans and largely…

Stochastic Gradient Descent (SGD) is one of the simplest and most popular stochastic optimization methods. While it has already been theoretically studied for decades, the classical analysis usually required non-trivial smoothness…

This paper presents a novel recurrent neural network-based method to construct a latent motion manifold that can represent a wide range of human motions in a long sequence. We introduce several new components to increase the spatial and…

While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…

The widespread use of positioning devices (e.g., GPS) has given rise to a vast body of human movement data, often in the form of trajectories. Understanding human mobility patterns could benefit many location-based applications. In this…